Had a similar problem on a R1250RS, suspension felt solid and nothing changed on playing with esa settings, dealer diagnosis didn't reveal anything suspect.
However during annual service it was noticed the shaft recall hadn't been done, some water ran out when fitting the drain, turned out the shaft had seized at both ends, took them a few hours to free and cut out the shaft and replace it.
The ride home afterwards was like a completely different bike and changing suspension settings actually made a difference, bike was also a lot quieter.